行星齒輪傳動機構簡介及運動分析 - amx.com.tw

1 Page: 1/18 [1] JARA Japan Robot Association 2008 / ABI Research 2010 [2] Personal Robot 2017 [3] [3] 1 1 Harmonic Drive 1 RV 2 1 1 Harmonic Cyclo RV 0 0 0 0 0 0 0 0 2 1 2 1 0 0 0 0 0 0 0 0 0 0 2 1 2 1 1 1 1 2 3 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 2 1 0 0 1 0 1 0 1 0 0 0 0 2 2 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 1 0 0 0 0 0 Page.

2 2/18 Harmonic Drive 1980 [4] Nabtesco RV RV 1 Harmonic Drive[5] Page: 3/18 2 RV [6] RV ordinary gear train 3 planetary gear train or epicyclic gear train 5 Page: 4/18 3 4 functional representation 5 sun gear ring gear planetary gear carrier 3 Ordinary Gear Train 4 Ordinary Gear Train Page.

3 5/18 5 Planetary Gear Train AGMA 6123-B06 [7] Simple Compound Coupled Differential NGW NW NN WW NGWN N N W G 6 suncarrierplanetring Simple NGW Compound WG Page: 6/18 ringsunplanetcarrierInput #1 Input #2 Differential NGW Coupled NW 6 AGMA 6123-B06 [8] 2K-H 3K K-H-V K H V 2 3 2K-H 7 8 1 2 3 4 a b c 2K-H K-H-V 3K RV K-H-V 9 2K-H A 2K-H B Page: 7/18 2K-H C 2K-H D 2K-H E- I 2K-H E- II 7 2K-H 5432ab1c 3K- I 3K- II Page: 8/18 3K- III K-H-V 8 3K K-H-V 9 RV [9] Fundamental Circuit Analysis Method [10] Fundamental Circuit Fundamental Circuit Equation Coaxiality Condition kjiijkab 10 10 i j k i j k fundamental circuit fundamental circuit Page: 9/18 ().

4 JjikjkiirZfijkrZ = = 1 ,ik ,jk i j k ,,ikki = ir jr i j iZ jZ i j 1 k i j l m n ,,,mnmlnl = 2 2 fundamental circuit 11 11 1. fundamental circuit ()2,433,422, 3, 4 :ZfZ = 4 Page: 10/18 2. 1 2 4 4,24,12,1 = 5 3 4 5 2 2 1 2 4 4,122,112 ZZZ =+ 2 1 4 4,211, 212 ZZZ =+ 4 2 1 1,422,41ZZ = 2 1 RZZ= 2 SZZ= 3 3 A SRSZZZ+ B SRRZZZ+ Page: 11/18 C SSRZZZ+ D RSRZZZ+ E RSZZ F SRZZ G 1 1 H / 2K-H 3K K-H-V fundamental circuit 7 8 4 iZ i _ijZ i j 4 2K-H 3K K-H-V Fundamental Circuit Equation Coaxiality Condition 2K-H A ()3,411,433,1, 4 :ZfZ = ()2,433,422, 3, 4.

5 ZfZ = 4,24,12,1 = Page: 12/18 2K-H B ()3,411,43 _ 13,1, 4 :ZfZ = ()3_22,43,422, 3, 4 :ZfZ = 4,24,12,1 = 2K-H D ()3,411, 43 _ 13,1, 4 :ZfZ = ()3_22,43,422, 3, 4 :ZfZ = 4,24,12,1 = 2K-H E- I ()3,211,23 _ 13,1, 2 :ZfZ = ()3_44,23,244, 3, 2 :ZfZ = 4,24,12,1 = 2K-H E- II ()3,411,43 _ 13,1, 4 :ZfZ = ()3_22,43,422, 3, 4 :ZfZ = 4,24,12,1 = 3K- I ()3,411,43 _ 13,1, 4 :ZfZ = ()3_12,43,422, 3, 4 :ZfZ = ()3,455,43 _ 23, 5, 4 :ZfZ = 4,24,12,1 = 5,45,14,1 = Page: 13/18 3K- II ()3,411,433,1, 4 :ZfZ = ()2,433,422, 3, 4 :ZfZ = ()3,455,433, 5, 4 :ZfZ = 4,24,12,1 = 5,45,14,1 = 3K- III ()3,411,43 _ 13,1, 4 :ZfZ = ()3_22,43,422, 3, 4 :ZfZ = ()3,455,43 _ 23, 5, 4 :ZfZ = 4,24,12,1 = 5,45,14,1 = K-H-V ()3,411,43 _ 13,1, 4 :ZfZ = ()3_22,43,422, 3, 4 :ZfZ = 4,24,12,1 = 4 [11] 6 Page: 14/18 1.

6 A C B 12 2ca brr r=+ 6 2ca bZZZ=+ 7 12 2. A C B bL abbdL< 8 abd B 13 Page: 15/18 ()2sinababdrr <+ 9 ar br A B 22abbdrm=+ d Z m dZm= 10 9 ()( )1802sinbabZZZN+< + o 11 N m 13 8 bbabLd = Page: 16/18 3. ()180acZZ += 12 B N 12 acZZN+= 13 14 3 Page: 17/18 5 5 SZ PZ RZ 1 41 16 73 2 47 19 85 3 29 16 61 4 32 19 70 5 29 22 73 6 37 29 95 7 23 22 67 8 29 28 85 9 19 23 65 10 41 52 145 11 19 29 77 12 31 47 125 13 13 23 59 14 29 52 133 15 13 29 71 16 23 49 121 17 13 32 77 18 13 38 89 19 17 58 133 20 13 53 119 21 17 76 169 Page.

7 18/18 22 13 71 155 HD RV [1] 2010 2011 [2] ABI Research 2010: Personal Robotics. [3] 2010 [4] [5] [6] [7] AGMA 6123-B06, Design Manual for Enclosed Epicyclic Metric Module Gear Drives. [8] 2003 [9] [10] Tsai, L. W., Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, 1999. [11] KHK3010 KHK